JPH02216412A - Working machine - Google Patents

Abstract

PURPOSE:To exactly and quickly control a working machine without providing a damper and a filter and to improve the work accuracy by using a displacement sensor formed by combining an optical type gyro displacement sensor with a gravity type displacement sensor. CONSTITUTION:A displacement sensor 14 is constituted of the gravity type horizontal sensor 11 and the optical fiber type gyro 13 and attached to a running machine body 18. The horizontal sensor 11 is ON/OFF sensor which becomes ON when a float floating on a liquid level is in a horizontal state, and becomes OFF when it is in an inclined state. The optical fiber type gyro 13 is constituted of an optical fiber cable 19 wound in a prescribed radius, a lens 20, a projector 21, a light receiving device 22 and a half mirror 23, bisects a light beam emitted from the projector 21 with a half mirror 23 and projects it into the optical fiber cable 19 in a reverse turn state, and detects the inclination angle of the machine body 18, based on a phase difference with the light receiving device 22. Subsequently, the horizontal sensor 11 detects a horizontal state, and when its state is continued for 1-2 seconds, a detection integrating value with the optical fiber type gyro 13 is cleared and brought to '0' point correction.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention maintains the working depth of the ground working device constant even if the traveling machine sinks into the field surface or tilts left, right, front and back. A work machine that is equipped with a displacement sensor used in a lifting control device or a rolling control device that maintains a constant left and right rolling posture of a ground work device, and more specifically, a ground work device that is connected to a traveling machine body so as to be relatively displaceable. The present invention also relates to a working machine in which at least one of the traveling machine body or the above-mentioned ground working device is provided with a displacement sensor for detecting the displacement thereof with respect to a horizontal reference plane.

[Conventional technology]

Conventionally, as a displacement sensor for detecting displacement such as sinking or rolling of the traveling aircraft or ground work equipment with respect to the horizontal reference plane, there has been a heavy It consisted of a weight and a potentiometer that detected the amount of swing of the weight.

(Problem to be solved by the invention) With the above configuration, when the traveling aircraft changes its attitude by gently following the unevenness of the screen, it is a static change, so the weight can reliably change its attitude. It is possible to follow changes in the traveling aircraft, but for example, if the traveling aircraft suddenly rolls due to local unevenness, not only gravity but also lateral inertia will act on the weight, so it will not change instantaneously. The weight may tilt in the opposite direction to the rolling direction. Therefore, in order to stabilize the operation of the weight, a damper may be added or a filter may be installed in the electric circuit. However, the addition of these measures resulted in a delay in the response of the sensor, slowing down the processing speed and reducing work accuracy.

An object of the present invention is to provide a working machine that can be expected to improve work accuracy by additionally configuring a displacement sensor that can measure accurately regardless of the field condition.

[Means to solve the problem]

A feature of the present invention is that the displacement sensor is composed of an optical gyro displacement sensor and a gravity displacement sensor, and the effects thereof are as follows.

[For production]

By adopting an optical gyro displacement sensor, it can be used in the following ways. As shown in Figure 2 (a), the entire gyro is tilted by θ due to the inclination of the traveling aircraft, which creates long and short paths for the light traveling in opposite directions within the optical fiber (19). , receiver (22
), a phase difference occurs due to the difference in path length between the two lights, and from this phase difference, the inclination angle θ can be determined.

Therefore, since this optical gyro uses light as its operating medium, which is less susceptible to the effects of gravity, stable measurements can be made even when the traveling aircraft is suddenly tilted.

However, since the fiber optic gyro detects the phase difference between lights traveling in opposite directions, it measures the relative inclination angle from the time the light is transmitted.
There will be a cumulative error.

Therefore, using the above-mentioned gravity type sensor, for example,
At the time when this gravity sensor detects the horizontal state of the traveling aircraft, the cumulative error of the detected values from the fiber optic gyro is cleared and zero point correction is performed, thereby eliminating the cumulative error.

〔Effect of the invention〕

Therefore, by combining an optical gyro sensor that is not affected by inertia and a gravity sensor that compensates for the shortcomings of the optical gyro sensor, it is possible to perform accurate and quick control without installing dampers or filters, improving work accuracy. I was able to do that.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

Figure 3 shows a working machine in which a rotary tiller (1) is connected to the rear of the vehicle body of an agricultural tractor as an example of a ground work device, and a hydraulic cylinder (2) is connected to the rear of the vehicle body of the agricultural tractor. A pair of left and right lift arms that go up and down (3
), (3), and the rotary tilling device (1
) is the top link (4) and the pair of left and right lower links (
5), is connected to the rear end of the vehicle body via a three-point linkage mechanism (L) consisting of (5), and is further connected to the lift arm (3).
, (3) for lower link (5) , (5)
are connected in a suspended state via the left and right lift rods (6) and (6), respectively, and this low-criteria tilling device (
1) can be driven up and down.

Also, as shown in the figure, the lift rod (6).

A rolling cylinder (7) is attached to one of (6).
) is interposed therein, and during operation, the rotary tiller (1) can be controlled in rolling by adjusting the length of the lift rod (6) by extending and contracting the rolling cylinder (7).

That is, a control box (9) is provided on one side of the vehicle body, and the control box (9) includes a dial (10) for adjusting the rolling angle (as shown in FIGS. 1 and 2). ), and the dial (10) is linked to a rolling angle setting device (12).The rolling cylinder (7) has a sliding type that detects the amount of expansion and contraction of the rolling cylinder (7). A stroke sensor (15) is provided, and the control box (9) is equipped with a stroke sensor (15).
control device (17) that operates the solenoid valve (16) for
) is installed, and signals from the rolling angle setter (12), a displacement sensor (14), and a stroke sensor (15), which will be described later, are input to this control device (17).

Based on the signal from the displacement sensor (14), the control device (17) adjusts the amount of expansion and contraction of the rolling cylinder (7) so as to maintain the rolling angle from the ground determined by the rolling angle setting device (12) during work. ), and the control device (1) performs rolling control based on the signal from the stroke sensor (15) so that the calculated value becomes
7) basic operations are set.

The displacement sensor (14) is composed of a gravity type horizontal sensor (11) and an optical fiber type gyro (13), and is attached to the traveling body (18). The horizontal sensor (
11) is an ON-OFF sensor in which a float floating on the liquid surface contacts positive and negative electrodes in a horizontal state and becomes an "ON state", and in an inclined state, the float moves away from the electrodes and becomes an "OFF state". As shown in Fig. 2, the fiber optic gyro (13) includes an optical fiber cable (19) wound at a constant radius, and lenses (20) and (20) at the entrance and exit of the optical fiber cable (19). , a laser diode type emitter (21) and a photodiode type receiver (
22) and a half mirror (23) that splits the light, and the light emitted from the projector (21) is divided into half mirrors (23)
3) Split into two and connect the optical fiber cable (
19), and the inclination angle of the traveling aircraft (18) is determined based on the phase difference at the light receiver (22).

As a measurement method, the above-mentioned fiber optic gyro (13
) detects a relative inclination angle, it adds or subtracts that angle and performs integration. The horizontal sensor (11) detects the horizontal state, and if this state continues for 1 to 2 seconds, the integrated value detected by the fiber optic gyro (13) is cleared and zero point correction is performed.

Therefore, the integration error of the fiber optic gyro (13) can be eliminated.

[Another example]

■ As shown in Figure 4, the optical gyroscope sensor (13) consists of triangularly arranged mirrors (24), a laser oscillator (25) that emits laser beams between these mirrors, and laser beams that rotate in opposite directions. Receiver (26)
If there is an inclination, the frequency will change by that amount due to the Doppler effect, and a laser gyro that can detect the inclination angle from the degree of change in frequency may be employed.

(2) The gravity sensor (11) may be a combination of a weight and a tachometer such as a potentiometer or a Hall element that detects the swing angle of the weight.

(2) The displacement sensor (14) may be installed on the tilling device (1) side.

■ Only rolling control has been described as the control mode for the above-mentioned ground work device (1), but when the traveling machine body 18) is tilted in the front-rear direction, the work device (1) is raised and lowered to maintain a constant working depth. The displacement sensor may be used to perform elevation control.

■ The optical gyro (13) and gravity sensor (11)
The gravity type sensor (11) is used as an auxiliary device, but in fields with severe unevenness, control is performed only with the optical gyro sensor (13), and in fields with relatively gentle unevenness, both sensors (11), (13) can be used together with the gravity sensor (
11) may be used to measure the relative inclination angle at that time using the optical gyro (13) starting from the time of detection.

■ The above embodiments can also be applied to other working machines such as rice transplanters.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the working machine according to the present invention, FIG. 1 is a control configuration diagram, FIG. 2 ((), (tl) is a principle diagram showing the measurement principle of an optical fiber gyro sensor, ) shows the state of the measurement target before rotation, (TI) shows the state after rotation, Fig. 3 is a perspective view showing the tilling device installed state, Fig. 4
The figure is a principle diagram showing an optical laser gyro. (1)...Ground work equipment, (11)...
・Gravity displacement sensor, (13)... Optical gyro sensor, (14)... Displacement sensor, (18)
......A traveling aircraft.

Claims (1)

[Claims] Ground work device (1) that can be freely displaced relative to the traveling aircraft (18)
A working machine in which at least one of the traveling machine body (18) or the ground working device (1) is provided with a displacement sensor (14) for detecting the displacement thereof with respect to a horizontal reference plane, A working machine in which the displacement sensor (14) is composed of an optical gyro displacement sensor (13) and a gravity displacement sensor (11).